arXiv 2604.150132026-04-16cs.RO

DEX-Mouse：一种低成本便携式和通用接口，具有力反馈，用于 Dexterous 机器人手的数据采集

DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands

Dept. of Artificial Intelligence, Sogang University, Korea（人工智能系，ソガン大学，韩国）；Dept. of Electronic Engineering, Sogang University, Korea（电子工程系，ソガン大学，韩国）；Dept. of Mechanical Engineering, Sogang University, Korea（机械工程系，ソガン大学，韩国）；Vertical Labs, Co., Ltd., Korea（垂直实验室，韩国）

Joonho Koh, Haechan Jung, Nayoung Kim, Wook Ko, Changjoo Nam

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AI总结：

DEX-Mouse 提供一种无需校准的便携式力反馈接口，用于采集 Dexterous 机器人手数据，支持多种任务，提高任务完成率和降低操作负荷。

摘要：

数据驱动的灵巧手操作需要大规模、物理一致的演示数据。仿真和视频方法存在仿真到现实的差距和重定向问题，而基于MoCap手套的远程操作系统需要每个操作员校准且缺乏便携性，因为机器人手通常固定在固定臂上。便携式替代方案提高了移动性，但缺乏跨平台和跨操作员兼容性。我们提出了DEX-Mouse，这是一种便携式、无需校准的手持远程操作接口，由商用现成组件组成，成本低于150美元。该设计无需校准或结构修改，可立即部署于不同环境和平台。该接口支持目标机器人手直接安装在操作员前臂上的配置，产生与机器人对齐的数据。在跨各种灵巧操作任务的比较用户研究中，使用所提出系统的操作员在附加配置下实现了86.67%的任务完成率。此外，我们发现附加配置相比空间分离的远程操作设置在所有比较接口中降低了操作员的感知工作量。完整的硬件和软件栈，包括物料清单、CAD模型和固件，已开源在https://dex-mouse.github.io/以促进复制和采用。

英文摘要：

Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems require per-operator calibration and lack portability, as the robot hand is typically fixed to a stationary arm. Portable alternatives improve mobility but lack cross-platform and cross-operator compatibility. We present DEX-Mouse, a portable, calibration-free hand-held teleoperation interface with integrated kinesthetic force feedback, built from commercial off-the-shelf components under USD 150. The operator-agnostic design requires no calibration or structural modification, enabling immediate deployment across diverse environments and platforms. The interface supports a configuration in which the target robot hand is mounted directly on the forearm of an operator, producing robot-aligned data. In a comparative user study across various dexterous manipulation tasks, operators using the proposed system achieved an 86.67% task completion rate under the attached configuration. Also, we found that the attached configuration reduced the perceived workload of the operators compared to spatially separated teleoperation setups across all compared interfaces. The complete hardware and software stack, including bill of materials, CAD models, and firmware, is open-sourced at https://dex-mouse.github.io/ to facilitate replication and adoption.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。